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loco-3d
multicontact-locomotion-planning
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99c297eb2476328c8f38571daafda6e6e5b8e3d8
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devel
docker_v2
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default
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v0.1
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Created with Raphaël 2.2.0
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[cs] sl1m : use INSTALL_HPP_DIR instead of DEVEL_HPP_DIR/install
[cs] sl1m can now work without viewer
[utils] cs_tools and init_scene can now work without viewer if the server is not started
Merge pull request #24 from pFernbach/devel
[config] disable all 'IK_store....'
[wb] tsid : correctly copy the init/goal wb config of each phase for the limb-rrt and do not recompute it after a failed iteration
[effector] fix error message when init/goal config is invalid in limb-rrt
[demo] working demo files for ANYmal for circle, modular_palet and slalom
[config] timeopt anymal : greatly reduce the weight of the cost function that minimize the variations of the com position
[demo] annymal 150cm flat
[wb] tsid : correctly store velocity and acceleration of waist_orientation
[wb] tsid : add settings to store or not centroidal and end effector references trajectories
[wb] tsid : correctly fill contact_activity even when ok_store_contact_forces = False
[wb] tsid : fix loader to correctly take package_path from config
[demo] add/update configs files for ANYmal scenarios
[utils] wb_result : store waist_orientation velocity and acceleration
Merge pull request #23 from pFernbach/devel
[config] by default, only store the minimum of data in the npz file
[cs] clean imports in sl1m
[cs] refactor 'lp' to 'sl1m'
[cs] lp : update script to changes in PR !1 in SL1M
[demo] add demos with sl1m and talos : maze (with and without orientation) and bauzil with stairs
[cs] sl1m : take initial height of contact from the guide
[config] disable verbosity of tsid
[config] talos : reduce max_yaw angle
[cs][config] sl1m : use orientation and use interpolation for orientation are now parameters in config.py
[cs] sl1m : use IK_referenceçconfig instead of the Robot one
Adding Maze Easy example
[cs][TEMP] sl1m : orientation of feet is now always the one from the guide, without interpolation
[config][cs] GUIDE_MAX_YAW is now defined in common files
[cs] sl1m : correctly take the final orientation from the guide planning
[cs] sl1m : adapt to API changes in getSurfacesFromGuideContinuous (max_yaw argument)
[cs] sl1m : init height correctly adapt to the height of the floor
[util] remove debug output from check path
[util] check path : can now check collision/joint limits only at a given timestep, instead of always at the same timestep that the IK
[cs] sl1m : update to python package name change
[configs] talos : add parameter GUIDE_STEP_SIZE used by SL1M method
[cs] lp : update script to directly formulate problem from a guide path
[effector][TEMP] limb-rrt now work with numpy matrix instead of array
[main] correctly create folders for serialization results if they doesn't exist
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